EP3528608B2 - Préparer et exécuter des mesures agricoles - Google Patents

Préparer et exécuter des mesures agricoles Download PDF

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EP3528608B2
EP3528608B2 EP17780765.8A EP17780765A EP3528608B2 EP 3528608 B2 EP3528608 B2 EP 3528608B2 EP 17780765 A EP17780765 A EP 17780765A EP 3528608 B2 EP3528608 B2 EP 3528608B2
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Prior art keywords
field
measure
digital image
area
agricultural
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German (de)
English (en)
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EP3528608A1 (fr
EP3528608B1 (fr
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Ole Peters
Holger Hoffmann
Gang Zhao
Subhashree DAS
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BASF Agro Trademarks GmbH
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BASF Agro Trademarks GmbH
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • A01C21/007—Determining fertilization requirements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • A01C21/005—Following a specific plan, e.g. pattern
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Definitions

  • the present invention relates to the planning and execution of agricultural measures based on remote sensing data and local field data.
  • precision farming refers to the location-differentiated and targeted management of agricultural land.
  • the aim is to take into account the differences in soil and productivity within a field.
  • Plant protection products are used worldwide to protect plants or plant products from harmful organisms or to prevent their effects, to destroy undesirable plants or parts of plants, to inhibit undesirable growth of plants or to prevent such growth, and/or in another way to affect the life processes of plants influence (e.g. growth regulators).
  • Plant protection products may be subject to restrictions on use in some countries, for example some plant protection products may only be used at certain times, in certain places, for a certain purpose and/or in a certain quantity.
  • Another problem in plant protection is the risk of insects, weeds and fungi developing resistance to individual active ingredients.
  • plant protection products should only be used when necessary and only in the quantities that are necessary.
  • the exact dosage of a crop protection product depends on the biophysical condition of the vegetation at the exact time the crop protection product is applied. In principle, one would have to determine the need immediately before applying a plant protection product.
  • the biophysical condition of the vegetation is also not uniform within a field. There may be different growth stages that require an adjusted dosage.
  • the nutrient requirements of plants can also vary locally.
  • soil conditions may vary spatially and some areas may have fewer nutrients than others.
  • sowing a crop differences in the field, such as soil or weather conditions, should also be taken into account in order to achieve maximum yield. For example, it is conceivable that in some areas of the field it is better to plant more densely, while in other areas of the field the plants should be planted less densely. It is also conceivable to select the crop or variety to be grown based on the respective soil properties.
  • Satellite images can provide information about the biophysical condition of a field; With the help of such recordings, inhomogeneities in a field can also be recognized (see e.g MS Moran et al.: Opportunities and Limitations for Image-Based Remote Sensing in Precision Crop Management, Remote Sensing of Environment (1997) 61: 319-346 ).
  • satellite images are usually not available on a daily basis; On the one hand, some areas are not captured by satellite images on a daily basis, and on the other hand, clouds, for example, can make it difficult or even impossible to generate usable remote sensing data.
  • the current local state of the field can be determined.
  • the range of local sensors is limited.
  • machines for agricultural processing of a field are equipped with sensors that determine the condition of the field as the machines move through the field (see e.g WO2015193822 or DE 102010034603 ). In this way, the range of the sensors is increased. The data is therefore generated during management and can flow directly into management.
  • the disadvantage is that it is not possible to plan an agricultural measure for the entire field based solely on the spontaneously generated data, since only part of the field is always recorded by the sensors
  • the publication DE 10 2011 120858 A1 shows a method for planning an agricultural measure using digitally recorded images.
  • the task is therefore to further optimize the site-specific management of agricultural fields.
  • At least one digital image recording is received from a field for cultivated plants, the at least one digital image recording having been generated with the aid of one or more remote sensing sensors.
  • cultiva plant refers to a plant that is specifically cultivated as a useful or ornamental plant through human intervention.
  • field is understood to mean a spatially definable area of the earth's surface that is used agriculturally by planting crops, supplying them with nutrients and harvesting them in such a field.
  • a single variety of a crop can be grown in a field; However, different varieties of a crop and/or different crops can also be grown. It is also conceivable that a field includes an area or several areas in which no crops are and/or are being grown.
  • image recording is understood to mean a two-dimensional image of the field or an area of a field.
  • EDP electronic data processing
  • the at least one digital image recording was generated using one or more remote sensing sensors.
  • the digital image recording is therefore remote sensing data.
  • Remote sensing data is digital information that has been obtained remotely from the earth's surface, for example by satellites.
  • aircraft unmanned (drones) or manned
  • remote sensing data is also conceivable.
  • the remote sensing sensors generate digital images of areas of the earth's surface from which information about the vegetation and/or the environmental conditions prevailing there can be obtained (see e.g MS Moran et al.: Opportunities and Limitations for Image-Based Remote Sensing in Precision Crop Management, Remote Sensing of Environment (1997) 61: 319-346 ).
  • the data from these sensors is obtained via the interfaces provided by the provider and can be optical and electromagnetic (e.g. Synthetic Aperture Radar SAR) include data sets of various processing levels.
  • optical and electromagnetic e.g. Synthetic Aperture Radar SAR
  • the digital image capture can be read into a computer system and displayed on a screen connected to the computer system.
  • a user of the computer system recognizes the recorded field or parts of the recorded field in the image on the screen.
  • the “digital image capture” is therefore a digital representation of the field.
  • the at least one digital image recording is usually received using a computer system that is connected to a computer network.
  • a digital image recording is transferred from a remote computer system to a computer system that is used by a user to practice the present invention (the so-called first computer system here).
  • the digital image capture contains information about the field and/or the crops grown there, which can be used to plan the agricultural measure (see e.g MS Moran et al.: Opportunities and Limitations for Image-Based Remote Sensing in Precision Crop Management, Remote Sensing of Environment (1997) 61: 319-346 ).
  • the digital image capture of the field can, for example, display the vegetation status of the crops grown in the field at the time the capture was taken.
  • the vegetation condition of the crop plants can be determined from the digital images, for example by calculating a vegetation index.
  • a well-known vegetation index is, for example, the normalized differentiated vegetation index (NDVI, English Normalized Differenced Vegetation Index or Normalized Density Vegetation Index).
  • NDVI normalized differentiated vegetation index
  • the NDVI is calculated from the reflectance values in the near infrared and red visible region of the light spectrum. The index is based on the fact that healthy vegetation reflects relatively little radiation in the red region of the visible spectral range (wavelength of approximately 600 to 700 nm) and relatively much radiation in the adjacent near-infrared region (wavelength of approximately 700 to 1300 nm). The differences in reflection behavior can be attributed to different states of development of the vegetation. Accordingly, the further the growth of a plant has progressed, the higher the index is.
  • An NDVI can be calculated for each pixel of a digital image of a field (e.g. a satellite image of the field).
  • the amount of biomass present can be derived from the NDVI.
  • the weighted difference vegetation index can also be determined from the remote sensing data (see e.g US2016/0171680A1 ).
  • a leaf area index can also be determined from the digital image recording (see, for example: A. Vi ⁇ a, AA Gitelson, AL Nguy-Robertson and Y. Peng (2011): Comparison of different vegetation indices for the remote assessment of green leaf area index of crops. In: Remote Sensing of Environment, Vol. 115, p. 3468-3478, https://msu.edu/ ⁇ vina/2011_RSE_GLAl.pdf ).
  • a WDVI and/or a leaf area index can be calculated for each pixel of a digital image of a field (for example a satellite image of the field).
  • a digital image recording of a field can indicate an infestation of the crops grown in the field with a harmful organism (see e.g Jingcheng Zhang et al.: Using satellite multispectral imagery for damage mapping of armyworm (Spodoptera frugiperda) in maize at a regional scale, Pest Management Science, Volume 72, Issue 2, February 2016, Pages 335-348 ; Z.-G. Zhou et al.: Detecting Anomaly Regions in Satellite Image Time Series Based On Seasonal Autocorrelation Analysis, ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume III-3, 2016 XXIII ISPRS Congress, 12-19 July 2016, Moscow, Czech Republic, Pages 303 - 310 ).
  • a digital image of a field can show deficiencies in the nutrients present (see e.g Neil C. Sims et al.: Towards the Operational Use of Satellite Hyperspectral image Data for Mapping Nutrient Status and Fertilizer Requirements in Australian Plantation Forests, IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing 6(2), April 2013, 320 -328 ; PC Scharf,: Remote sensing for nitrogen management, Journal of Soil and Water Conservation, 2002, Vol. 57, No. 6, 518-524 ).
  • a digital image of a field can provide information about soil properties ( Said Nawar et al.: Digital Mapping of Soil Properties Using Multivariate Statistical Analysis and ASTER Data in an Arid Region, Remote Sens. 2015, 7, 1181-1205; doi:10.3390/rs70201181 ; Ertugrul Aksoy et al.: Soil mapping approach in GIS using Landsat satellite imagery and DEM data, African Journal of Agricultural Research Vol. 4 (11), pp. 1295-1302, November, 2009 ; Hendrik Wulf et al.: Remote Sensing of Soils, January 22, 2015, Doc.
  • the digital image recording of the field is used to plan an agricultural measure.
  • Agricultural measure means any measure in the field of crops that is necessary or economically and/or ecologically sensible in order to obtain a plant product. Examples of agricultural measures are: soil cultivation (e.g. plowing), spreading seeds (sowing), irrigation, removing weeds/grasses, fertilizing, combating harmful organisms, harvesting.
  • biological and/or chemical agents are applied using an application device.
  • these agents are pesticides and nutrients.
  • plant protection product is understood to mean an agent that serves to protect plants or plant products from harmful organisms or to prevent their action, to destroy undesirable plants or parts of plants, to inhibit undesirable growth of plants or to prevent such growth, and/or influence the life processes of plants in a way other than nutrients (e.g. growth regulators).
  • plant protection products are herbicides, fungicides and pesticides (e.g. insecticides).
  • a plant protection product usually contains one or more active ingredients. “Active ingredients” are substances that have a specific effect in an organism and cause a specific reaction.
  • a plant protection product usually contains a carrier for diluting one or more active ingredients. Additives such as preservatives, buffers, dyes and the like are also conceivable.
  • a plant protection product can be in solid, liquid or gaseous form.
  • Growth regulators are used, for example, to increase the stability of grain by shortening the length of the stalk (culm shortener or, better, internode shortener), to improve the rooting of cuttings, to reduce the plant height through compression in horticulture or to prevent the germination of potatoes. They are usually phytohormones or their synthetic analogues.
  • the term “nutrients” refers to those inorganic and organic compounds from which plants can obtain the elements from which their bodies are built. These elements themselves are often referred to as nutrients. Depending on the plant's location, nutrients are taken from the air, water and soil. These are mostly simple inorganic compounds such as water (H 2 O) and carbon dioxide (CO 2 ) as well as ions such as nitrate (NO 3 - ), phosphate (PO 4 3- ) and potassium (K + ). The availability of nutrients varies. It depends on the chemical behavior of the nutrient and the site conditions. Since the nutrient elements are required in a certain proportion, the availability of an element usually limits the growth of the plants. If you add this element, growth increases.
  • K, S, Ca, Mg, Mo, Cu, Zn, Fe, B, Mn, Cl in higher plants, Co, Ni are also essential for life.
  • Nitrogen can be supplied, for example, as nitrate, ammonium or amino acid. In some cases, Na + can be used as a functional replacement for K + .
  • An “application device” is understood to mean a mechanical device for applying one or more crop protection products and/or nutrients to a field.
  • Such an application device usually comprises at least one container for holding at least one crop protection agent and/or nutrient, a spray device with which the crop protection agent and/or the nutrient is dispensed onto the field and a control device with which the promotion of the at least one crop protection agent and / or nutrient is controlled from its container towards the spray device.
  • the application device has means for movement in and/or across the field.
  • the application device is preferably equipped with a GPS sensor or a comparable sensor, so that the respective position of the application device can be determined as it moves in and/or above the field.
  • the planning of the agricultural measure is site-specific. This means that no uniform measure is defined for the field, but that local differences in the field are taken into account by planning a specific, needs-based implementation of the measure for individual sub-areas.
  • crops are grown in the field that have different requirements for one or more crop protection products and/or nutrients.
  • a site-specific measure takes these different needs into account.
  • One step in planning a site-specific application of one or more crop protection products is usually determining a need.
  • the identified need usually has a cause, so identifying a need in the context of this invention can be tantamount to identifying a cause for a need.
  • the need to treat a field and/or crop plants with one or more plant protection products may arise, for example, from the fact that a pest infestation has occurred or is about to occur.
  • a pest infestation has occurred or is about to occur.
  • the weeds and/or grasses in the field must be removed before the seeds of a crop are sown.
  • weeds and/or weeds have developed in the field after sowing and need to be removed.
  • some or all of the cultivated crops are infected with a pathogen or a fungus.
  • an animal pest has spread in the field. It is also conceivable that there is a risk of a pest infestation spreading.
  • a "harmful organism” is understood to mean an organism that can appear during the cultivation of crop plants and damage the crop plant, negatively influence the harvest of the crop plant, or compete with the crop plant for natural resources.
  • harmful organisms are weeds, weeds, animal pests such as beetles, caterpillars and worms, fungi and pathogens (e.g. bacteria and viruses). Even if viruses do not count as organisms from a biological point of view, they should still fall under the term harmful organism in this case.
  • weeds refers to plants that spontaneously accompany vegetation in cultivated plant stands, grassland or gardens that are not specifically cultivated there and, for example, come into development from the seed potential of the soil or via influx.
  • the term is not limited to herbs in the strict sense, but also includes grasses, ferns, mosses or woody plants.
  • weed in the field of plant protection, the term “weed” (plural: weeds) is often used to distinguish it from herbaceous plants.
  • weed is used as a generic term that is intended to include weeds, unless reference is made to specific weeds or weeds.
  • Grasses and weeds in the sense of the present invention are therefore plants that accompany the cultivation of a desired crop. Since they compete with cultivated plants for resources, they are undesirable and should therefore be combated.
  • the determination of a need is preferably carried out by using sensors in and/or above the field, which register the presence of a harmful organism in the field and/or which register the presence of environmental conditions that are favorable for the spread of a harmful organism.
  • proPlant Expert uses data on the cultivated crop (development stage, growth conditions, plant protection measures), the weather (temperature, sunshine duration, wind speed, precipitation) and known pests/diseases (economic limit values, pest/disease pressure) for forecasting and calculates on a basis this data poses a risk of infection ( Newe M., Meier H., Johnen A., Volk T.: proPlant expert.com - an online consultation system on crop protection in cereals, rape, potatoes and sugarbeet.
  • the infestation of a neighboring field with a harmful organism can also indicate a need.
  • the nutrient requirements of the cultivated crops can be determined, for example, using local sensors and/or remote sensing sensors and/or visual inspection and/or prediction models (e.g. plant growth models).
  • the need for the seed distribution of the crop to be grown can be determined for example, using local sensors and/or remote sensing sensors and/or visual inspection and/or prediction models (e.g. plant growth models/weather forecast).
  • local sensors and/or remote sensing sensors and/or visual inspection and/or prediction models e.g. plant growth models/weather forecast.
  • the need for an agricultural measure is derived from the digital image captured in a first step.
  • the need for an agricultural measure is calculated based on a prediction model.
  • the need for an agricultural measure is registered using one or more sensors in and/or above the field.
  • a further step in planning the area-specific agricultural measure can be the selection of the means that satisfy the identified needs.
  • a product that includes the nutrient could be selected.
  • a product that controls the weeds and/or grasses could be selected.
  • a product could be selected that combats the causative insect pest.
  • a product could be selected that combats the causal fungal infestation.
  • control means preventing the infestation of a field or a part thereof with one or more harmful organisms and/or preventing the spread of one or more harmful organisms and/or reducing the amount of harmful organisms present.
  • a further step in planning the site-specific agricultural measure can be to determine the required amount of seeds, pesticides, nutrients and/or water to satisfy the demand (requirement quantity).
  • the quantity is preferably determined on a site-specific basis. This means that the respective required quantity is determined for individual areas of the field.
  • the required quantity is preferably determined on the basis of the at least one digital image recording.
  • the required quantity can, for example, depend on the amount of biomass present. This can be the case, for example, when combating weeds and/or weeds: the larger the amount of weeds/grasses present, the more herbicide must be used to combat them.
  • the amount required to supply the plants with nutrients can also depend on the amount of biomass present: the further a plant has progressed in its development, the greater the need for the supply of nutrients can be.
  • the amount required can also depend on the size of the leaf area. This can be the case, for example, with the prophylactic treatment of the cultivated plant with a plant protection product if there is a threat of infection with a pathogen or fungus that primarily attacks the leaves.
  • the required amount can also depend on the amount of plants that are affected by a harmful organism.
  • the required amount can also depend on the size of the area in the field in which there is a risk of infestation with a harmful organism.
  • the respective required quantity is preferably determined for each pixel of the digital image recording.
  • a further step in planning the area-specific agricultural measure can be to identify additional means to satisfy the need.
  • Further means can be, for example, one or more application devices, work machines, personnel and the like.
  • a further step in planning the site-specific agricultural measure can be the determination and/or determination of a suitable period for carrying out the measure. For example, crops are not harvested when they are wet, otherwise there is a risk of mold forming, which could damage the crop. In this respect, it would be advantageous to choose a period for the harvest before which it has not rained for a few days and during which it will not rain. Weather forecasts can be used to identify suitable days.
  • a further step in planning the site-specific agricultural measure can be the determination and/or determination of a suitable and/or optimal route for the respective working machine (e.g. an application machine) to carry out the measure.
  • the respective working machine e.g. an application machine
  • Further information can be obtained from the at least one digital image recording, which can be used to planning of the agricultural measure can be used.
  • the quantity required for the entire field (total quantity required) of plant protection products, nutrients, water and/or seeds can be determined.
  • the total required quantity is obtained, for example, by adding the area-specific required quantities of all sub-areas. Knowing the total quantity required is important because the corresponding quantity must be provided. Furthermore, if the total quantity required is known, the costs for carrying out the agricultural measure can be estimated, which can be largely determined by the costs of the resources to be made available.
  • a range of variation in the partially specific required quantities can be determined from the at least one digital image recording. Different areas usually have differences in the quantity required. The range of variation indicates how large these differences are. Usually there is a sub-area for which the required quantity per unit area is the largest and a sub-area for which the required quantity per unit area is the smallest. The difference between the maximum and minimum required quantity per unit area represents the range of variation.
  • the digital image recording shows that one area of the field is infected with a harmful organism, while other areas are not (yet) affected.
  • rapid intervention may be necessary to prevent the harmful organism from spreading further.
  • the plan can be such that the infested area should be treated with a pesticide as quickly as possible. Areas immediately adjacent to the affected area are preferably also included in the treatment, while unaffected, distant areas do not need to be treated.
  • the digital image recording can also be used, for example, to determine the route of the at least one application device through and/or across the field. If areas have been identified where there is no need for treatment with a plant protection product and/or a nutrient, these areas do not need to be approached by the application device.
  • the container of the at least one application device may be necessary to fill the container of the at least one application device with plant protection products and/or nutrients once or several times during its use. Based on the area-specific required quantities, it is possible to calculate which quantities of plant protection products and/or nutrients are consumed on a route or sub-route and to calculate the optimal route in which the application device covers the shortest path in order to travel/fly to all required positions in the field and replenish crop protection products and/or nutrients in between.
  • digital image capture can also be used to determine an optimal route for treatment with pesticides where the risk of contamination is minimal.
  • pesticides e.g. fungi or pathogens
  • nests of pests e.g. fungi or pathogens
  • other areas are not (yet) infested.
  • an optimal route can be determined on the digital image recording, in which the nests are finally approached and the application device is on its way Takes the shortest route out of the field away from the nests.
  • the digital image capture can also be used to generate an application map, which is then updated and/or refined by local data in the field, for example during the application process.
  • An application map is a representation of the field or part of the field in which an application with one or more crop protection products and/or nutrients is to be carried out.
  • the application map indicates which portions of the field should be applied to which amounts of one or more selected plant protection products and/or nutrients, for example to prevent the spread of harmful organisms and/or to combat harmful organisms and/or to ensure optimal supply of the To provide crops with nutrients.
  • It is preferably a digital application card that can be read into a control unit of the application device. If the application device moves in and/or above the field, the position of the application device can be determined using a GPS sensor or a comparable sensor. By comparing the real position with the corresponding position in the digital application map, the respective amount required at the real position for one or more crop protection products and/or nutrients can be determined.
  • the planned agricultural Measure carried out.
  • one or more sensors that record one or more local parameters in the field.
  • the recorded local parameters are then incorporated into the execution of the agricultural measure by adapting the execution to the local needs in the field.
  • At least one field sensor With the at least one field sensor, at least one parameter is locally determined in the field, which must be taken into account for the execution of the agricultural measure in order to ensure needs-based treatment.
  • “Local” is understood to mean that the corresponding sensor detects an area in the vicinity of a device for carrying out the agricultural measure (e.g. an application device), which preferably has a size of 1 cm 2 to 1000 m 2 , even more preferably of 10 cm 2 up to 100 m 2 .
  • “Environment” is preferably understood to mean that area which is located in front of the device in the direction of movement of the device for carrying out the agricultural measure and is detected by the sensor. The device therefore moves towards the “environment” in order to carry out one or more agricultural measures there.
  • the detection range depends on the type of sensor used and can be found in the product information published by the respective manufacturer.
  • the agricultural measure includes, for example, the application of a plant protection product, and for economic and/or ecological reasons and/or due to legal regulations and/or due to a more efficient and/or effective use of the plant protection product, for example, the amount of the plant protection product applied to the leaf surface or the amount of biomass present or to the amount of biomass present of a specific species and/or variety are adjusted, the at least one parameter is preferably one that provides information about the leaf area or the amount of biomass present or the amount of existing biomass of the specific quantity and/or variety.
  • the agricultural measure includes the application of a plant protection product to combat a harmful organism and the application should only take place at those locations where the harmful organism can be detected, the at least one parameter should provide information about the presence of the harmful organism.
  • the at least one parameter should provide information about this: at which points in the field the growth threshold has been reached or even exceeded and at which points it has been undershot.
  • Field sensors for determining local parameters in the field are commercially available in a variety of forms (see e.g. https://www.decagon.com/en/canopy/canopy-measurements/spectralreflectance-sensor-srs/; http://plantstress.com/methods /Greenseeker.PDF; http://dx.doi.org/10.1155/2012/582028; N.
  • the at least one parameter that is recorded by the at least one field sensor can be the same parameter that is used to plan the agricultural measure from the digital image recording.
  • the at least one field sensor moves through the field and/or above the field independently of the at least one application device. It is conceivable, for example, to use a drone that determines the current local demand quantities in the field before using the at least one application device.
  • the at least one field sensor is in a communication connection to a computer system with which the current local demand can be determined based on the signals supplied by the field sensor (the so-called second computer system here).
  • This second computer system can be set up in such a way that it controls the at least one application device that moves in and/or over the field, so that the current local requirement quantities determined are applied accordingly.
  • the second computer system is set up in such a way that it is based on the determined local required quantities generates a digital application map, which can be read into a working memory of the application device, so that the application device applies the respective local required quantities when it is at the corresponding position in and / or above the field.
  • a first application map has been generated based on the area-specific requirement quantities determined from the remote sensing data, which is updated and/or refined with the aid of the second computer system based on the determined local requirement quantities.
  • a site-specific application map can be generated from the remote sensing data, which takes local needs into account in a certain way due to the site specificity.
  • the application map that was generated from the remote sensing data is inaccurate and/or not up-to-date due to the comparatively low resolution of the remote sensing data.
  • this deficit is eliminated by using one or more sensors in and/or above the field (field sensors), for example to determine the current local requirement for one or more crop protection products and/or nutrients.
  • the digital image recording which was generated remotely using one or more remote sensing sensors, for example, a total required quantity, a required quantity variability and approximate local required quantities for a field can be taken, the actual current local required quantities are determined by the at least one field sensor.
  • the at least one field sensor moves together with the application device in and/or above the field. It therefore only detects the immediate surroundings of the application device, so that, for example, the total amount required can only be determined with the help of this field sensor, if at all, when the application device has traveled over the entire field and the field sensor has gradually detected the entire field.
  • the at least one remote sensing sensor and the at least one field sensor complement each other in an ideal manner: the remote sensing sensor is used to determine an overview of the conditions in the entire field, the overview being used to plan the use of an application device, while the field sensor determines the current local demand quantity .
  • the at least one digital image recording was created at a time that is close to the time for which the agricultural measure is planned.
  • predictive models can be used to calculate the current state.
  • an earlier digital image recording is received and fed to a prediction model, which then preferably calculates the conditions in the field for the time (or period) of the planned agricultural measure.
  • the planning is then not carried out directly on the basis of the digital image capture but rather on the basis of data that correspond to a digital image capture at the time of prediction.
  • the growth stage of the cultivated crops can change quickly. If the growth stage of the cultivated crops is crucial for a needs-based agricultural measure, e.g. because the measure is intended to apply an agent in a quantity that depends on the leaf area or the amount of biomass present, a plant growth model can be used, for example, to determine the growth stage for the Predict the timing of the planned agricultural measure based on the previous digital image capture of the field.
  • plant growth model refers to a mathematical model that describes the growth of a plant depending on intrinsic (genetics) and extrinsic (environmental) factors.
  • Plant growth models exist for a variety of crops.
  • the term “providing a plant growth model” is intended to mean both that an existing model is used, that an existing model is adapted or changed, and that a new model is set up.
  • the plant growth model usually simulates the growth of a crop of crops over a defined period of time. It is also conceivable to use a model based on a single plant that simulates the energy and material flows in the individual organs of the plant. Mixed models can also be used.
  • the growth of a cultivated plant is primarily determined by the local weather conditions prevailing over the plant's lifespan (quantity and spectral distribution of incident sunlight, temperature profiles, amounts of precipitation, wind input), the condition of the soil and the supply of nutrients.
  • the cultural measures that have already taken place and any infestation with harmful organisms can also have an influence on plant growth and can be taken into account in the growth model.
  • the plant growth models are usually so-called dynamic process-based models (see “ Working with Dynamic Crop Models” by Daniel Wallach, David Makowski, James W. Jones and Francois Brun., published in 2014 in Academic Press (Elsevier), USA ), but can also be completely or partially rule-based or statistical or data-supported/empirical.
  • the models are usually so-called point models.
  • the models are usually calibrated so that the output reflects the spatial representation of the input. If the input is collected at a point in space or is interpolated or estimated for a point in space, it is usually assumed that the model output is valid for the entire adjacent field.
  • An application of so-called point models calibrated at the field level to other, usually coarser scales is known (see e.g H.
  • FIGS 1 and 2 are intended to illustrate the present invention.
  • illustration 1 shows schematically an image of a field for cultivated plants.
  • the large square with the checkerboard pattern represents the field.
  • the checkerboard pattern illustrates the spatial resolution of the image recording. It is largely determined by the resolution of the remote sensing sensor used.
  • An application device in the form of a tractor is shown in the upper left corner of the field.
  • the tractor is equipped with a field sensor according to an unclaimed embodiment which is helpful for understanding the invention (no field sensor is shown in the figure).
  • the field sensor has a higher resolution than the remote sensing sensor used to generate the image (recognizable by the "smaller" checkerboard pattern). For this purpose, the range of the field sensor is limited to the surroundings of the application device.
  • remote sensing sensors and field sensors only record the same parameter at different resolutions.
  • different parameters can be detected by the remote sensing sensor and the field sensor, for example, the need for treatment of the field with a plant protection product can be recognized using a remote sensing sensor based on a first parameter, while using the field sensor based on a second parameter the local current requirements are determined.
  • the remote sensing sensor records the entire field, the field sensor only records a local area.
  • a prediction model e.g. a plant growth model
  • an infestation with harmful organisms has been observed in the crop field.
  • the entire field should be treated with a plant protection product to combat the harmful organisms.
  • the amounts of plant protection products to be applied should be adapted to the respective size of the leaf area of the crop plants.
  • a digital image recording of the field is received from a corresponding provider using a first computer system.
  • the digital image capture is a satellite image from which a leaf area index is calculated for each pixel of the satellite image.
  • a pesticide is selected that is known to effectively combat the harmful organisms.
  • the calculated leaf area indices are used to calculate the optimal amount of pesticide for each pixel of the digital image recording.
  • manufacturer information can be used, which can provide information about the amount of plant protection products to be used per unit area of available leaf area.
  • the required quantities calculated for the individual pixels represent an application map.
  • the total amount of crop protection product required is calculated in order to provide this amount in a next step.
  • a period of time is planned during which the plant protection product should be applied.
  • Weather data and forecasts are used to identify a period in the near future (to prevent further spread of harmful organisms and thus damage to crops) but in which there should be no rainfall and which is followed by a period from followed by at least one day in which there should be no precipitation so that the plant protection product can develop its effect without being washed off first.
  • a mobile application device with the plant protection product is sent through the field.
  • the application device is equipped with a field sensor which detects the immediate surroundings in front of the application device (in the direction of travel) in order to determine the local leaf size. The quantities of pesticides released are adjusted to the locally recorded leaf sizes.
  • the crops grown in a field are to be supplied with nutrients. Only those crops that have reached or exceeded a certain growth threshold should be supplied. For crops whose growth stage is below the threshold value, it is not worth supplying them with nutrients.
  • a digital image is received in the form of a satellite image, from which a vegetation index is calculated for each individual pixel.
  • the vegetation indices are used to determine for each pixel whether the growth threshold has been reached, exceeded or fallen below.
  • the amount of nutrients necessary to supply the plants that have reached or exceeded the growth threshold is calculated.
  • a shortest route is calculated for an application device in order to apply nutrients and, if necessary, obtain supplies in the meantime.
  • the required amount of nutrients is provided, loaded into an application device equipped with a field sensor according to an unclaimed embodiment helpful in understanding the invention.
  • the field sensor locally detects a vegetation index to locally determine which crops have reached or exceeded a growth threshold.
  • the identified crops are supplied with nutrients. Those crops that have not exceeded the growth threshold are not supplied with nutrients.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
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Claims (13)

  1. Procédé comprenant les étapes suivantes consistant à :
    - recevoir au moins une capture d'image numérique d'un champ de plantes cultivées, dans lequel ladite au moins une capture d'image numérique a été générée à l'aide d'un ou de plusieurs capteurs de télésondage,
    - planifier une mesure agricole, spécifique à une parcelle, dans le champ sur la base de la capture d'image numérique du champ, et fournir des moyens pour exécuter la mesure de manière spécifique à une parcelle,
    caractérisé en ce que le procédé comprend les étapes suivantes consistant à :
    - exécuter la mesure, dans lequel, pendant l'exécution de la mesure au moyen d'un ou de plusieurs capteurs, un ou plusieurs paramètres locaux actuels concernant le champ sont détectés, et l'exécution de la mesure est en continu adaptée au(x) paramètre(s) local/locaux actuel(s),
    - dans lequel le(s) capteur(s) détecte(nt) une zone dans l'environnement du dispositif pour exécuter la mesure agricole (dispositif d'application) et se déplace(nt) à travers le champ et/ou sur le champ indépendamment du dispositif d'application.
  2. Procédé selon la revendication 1, dans lequel la planification de la mesure agricole spécifique à une parcelle comprend les étapes suivantes consistant à :
    - déterminer un besoin d'au moins une partie du champ et/ou des plantes cultivées en place quant à une ou plusieurs mesures agricoles sélectionnées dans la liste comprenant : la culture du sol, l'épandage de semences, le traitement avec un ou plusieurs produits phytosanitaires, l'épandage de nutriments, l'irrigation,
    - déterminer la quantité totale requise pour satisfaire au besoin déterminé, la quantité totale étant déterminée sur la base d'au moins une capture d'image numérique,
    - fournir des moyens pour exécuter la mesure agricole sur la base de la quantité totale déterminée.
  3. Procédé selon la revendication 2, dans lequel la planification de la mesure agricole spécifique à une parcelle comprend en outre l'étape suivante consistant à :
    - déterminer des quantités requises spécifiques à une parcelle pour satisfaire au besoin déterminé.
  4. Procédé selon la revendication 2 ou 3, dans lequel la planification de la mesure agricole spécifique à une parcelle comprend en outre l'étape suivante consistant à :
    - spécifier l'itinéraire d'un ou de plusieurs dispositifs à travers ou sur le champ pour exécuter la mesure agricole sur la base de la quantité totale déterminée et/ou des quantités requises spécifiques à une parcelle.
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que la capture d'image numérique est une capture satellitaire.
  6. Procédé selon l'une quelconque des revendications 2 à 5, caractérisé en ce qu'une infestation parasitaire a été constatée dans le champ, ou une infestation parasitaire est imminente, et un traitement avec un produit phytosanitaire est donc nécessaire.
  7. Procédé selon l'une quelconque des revendications 2 à 5, caractérisé en ce qu'un déficit en nutriments a été constaté dans le champ, ou un déficit en nutriments a été prédit, et un traitement avec un ou plusieurs nutriments est donc nécessaire.
  8. Procédé selon l'une quelconque des revendications 2 à 5, caractérisé en ce qu'un épandage de semence dans le champ est nécessaire.
  9. Procédé selon l'une quelconque des revendications 3 à 8, caractérisé en ce que la quantité requise spécifique à une parcelle dépend de la quantité de biomasse présente dans le champ, qui est de préférence dérivée d'un indice de végétation de ladite au moins une capture d'image numérique.
  10. Procédé selon l'une quelconque des revendications 3 à 8, caractérisé en ce que la quantité requise spécifique à une parcelle dépend de la taille des surfaces foliaires présentes, qui est de préférence dérivée d'un indice de surface foliaire de ladite au moins une capture d'image numérique.
  11. Procédé selon l'une quelconque des revendications 3 à 10, caractérisé en ce qu'une carte d'application numérique est créée sur la base des quantités requises spécifiques à une parcelle, laquelle carte est actualisée et/ou affinée à l'aide des paramètres locaux lorsque la mesure agricole est exécutée.
  12. Procédé selon l'une quelconque des revendications 1 à 11, caractérisé en ce que ladite au moins une capture d'image numérique du champ est utilisée pour prédire l'état du champ pour la période de la mesure agricole planifiée, l'état prédit étant utilisé pour planifier la mesure agricole.
  13. Système, comprenant :
    un premier système informatique qui est conçu pour
    recevoir au moins une capture d'image numérique d'un champ de plantes cultivées, dans lequel ladite au moins une capture d'image numérique a été générée à l'aide d'un ou de plusieurs capteurs de télésondage, et
    assister un utilisateur à planifier une mesure agricole, spécifique à une parcelle, dans le champ sur la base de la capture d'image numérique du champ, dans lequel le système informatique est conçu pour déterminer des moyens qui sont à fournir pour exécuter la mesure de manière spécifique à une parcelle,
    le système comprenant en outre au moins un dispositif d'application pour exécuter la mesure agricole, qui est conçu pour se déplacer à travers et/ou sur le champ tout en appliquant des quantités requises locales actuelles,
    caractérisé en ce que le système comprend un deuxième système informatique qui est conçu pour
    détecter l'état local actuel du champ lors de l'exécution de la mesure au moyen d'un ou de plusieurs capteurs et pour adapter l'exécution de la mesure à l'état local actuel,
    et en ce que le système comprend en outre ledit ou lesdits capteurs,
    dans lequel le(s) capteur(s) est/sont conçu(s) pour détecter une zone dans l'environnement du dispositif d'application et pour se déplacer à travers le champ et/ou sur le champ indépendamment du dispositif d'application.
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WO2018073060A1 (fr) 2018-04-26
EP3528608A1 (fr) 2019-08-28
US20240040954A1 (en) 2024-02-08
US11818975B2 (en) 2023-11-21
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EP3528608B1 (fr) 2021-06-02
BR112019007886A2 (pt) 2019-07-02

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